Dual-kite aerial vehicle

ABSTRACT

Systems and methods are disclosed for implanting a dual-kite aerial vehicle including a first kite apparatus, a second kite apparatus, and a tether extending between the first and second kite apparatuses. In particular, the disclosed systems include a first kite apparatus including a first flight controller that maintains flight at a first altitude. The disclosed system further includes a second kite apparatus including a second flight controller that maintains flight at a second altitude. The flight controllers can cooperatively maintain a gradient air movement between the first and second altitudes by extending or retracting the tether to modify a difference in the air movements between the first and second kite apparatuses. The systems described herein additionally include components for generating electrical energy from the gradient air movement to extend a flight time of the dual-kite aerial vehicle.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application claims priority from U.S. ProvisionalApplication No. 62/591,571 filed Nov. 28, 2017. The aforementionedapplication is hereby incorporated by reference in its entirety.

BACKGROUND

Aerial vehicles are becoming increasingly common. Indeed, consumers,governments, and various enterprises have begun to utilize unmannedaerial vehicles (UAVs) to perform various operations. For example,developers have recently created high-altitude, long-endurance UAVs toperform flight missions that last an extended period of time. Forinstance, developers have created high-altitude, long-endurance UAVsthat provide improved digital communication capabilities.

As UAV design moves into this challenging new frontier, shortcomings ofconventional aircraft design have become increasingly apparent. Forexample, because UAVs need to periodically refuel, recharge, and/orreceive maintenance in order to operate reliably, maintaining operationover large areas and over extended periods of time has become expensiveand presents various challenges. For instance, with higher demands onflight paths and flight times, UAVs have generally increased in size andcost to satisfy requirements for carrying out flight missions. Indeed,designing and implementing UAVs capable of carrying more fuel and/orcarrying out longer missions often results in larger, heavier, andultimately more expensive UAVs.

In addition, conventional UAVs often experience poor performance as aresult of unpredictable flight conditions. For instance, unpredictableweather, varying air speeds, and other environmental conditions caninterfere with flight missions causing the UAV to fail in performingvarious tasks or fly off a predetermined path. Further, while UAVs ofteninclude functionality for altering a flight path, doing so often causesUAVs to consume more fuel/energy, further contributing to higher costsassociated with operating conventional UAVs.

These and other problems exist with regard to conventional UAV design.

BRIEF SUMMARY

One or more embodiments described herein provide benefits and/or solveone or more of the foregoing and other problems in the art with systemsfor providing UAVs for use in various flight conditions. Indeed, one ormore embodiments described include a dual-kite aerial vehicle includinga first kite apparatus and a second kite apparatus. The dual-kite aerialvehicle includes a tether extending between the first kite apparatus andthe second kite apparatus. For example, while in flight, the first kiteapparatus can maintain flight at a first altitude while the second kiteapparatus maintains flight at a second altitude lower than the firstaltitude. In addition, the dual-kite aerial vehicle can include a flightcontrol system including one or more flight controllers for controllinga flight path of the respective kite apparatuses.

As will be described in further detail below, the dual-kite aerialvehicle includes kite apparatuses at different altitudes to maintainflight of the dual-kite aerial vehicle over extended periods of time.For example, in one or more embodiments, the dual-kite aerial vehicleincludes a first kite apparatus at a first altitude coupled to a secondkite apparatus at a second altitude by a long tether (e.g.,approximately one kilometer tether). In addition, the dual-kite aerialvehicle utilizes the difference in air movement (e.g., a gradient airmovement) at the different altitudes to maintain flight of the dual-kiteaerial vehicle over an extended period of time. For example, bymaintaining the first kite apparatus at a first altitude that hasgreater air movement than the second kite apparatus at a second (lower)altitude, the dual-kite aerial vehicle maintains flight for an extendedperiod of time while consuming less fuel than conventional UAVs, therebyreducing costs associated with maintaining flight of UAVs for extendedperiods of time.

In addition to utilizing the difference in air movement at the differentaltitudes to maintain flight, the dual-kite aerial vehicle includescomponents for leveraging environmental forces to power variouscomponents of the dual-kite aerial vehicle, further extending flighttime of the dual-kite aerial vehicle. For example, as will be describedin further detail below, the dual-kite aerial vehicle includes one ormore power generators that converts forces applied to the tether (e.g.,as a result of the gradient air movement) to electrical energy forpowering the respective flight controllers. As another example, thedual-kite aerial vehicle can include solar panels on one or both of thekite apparatuses that collect energy for use in powering variouscomponents of the dual-kite aerial vehicle. By leveraging environmentalforces in this way, the dual-kite aerial vehicle further extends flighttime while maintaining control of the flight path, further reducing costassociated with maintaining flight of UAVs for extended periods of time.

The following description sets forth additional features and advantagesof one or more embodiments of the disclosed systems, computer media, andmethods. In some cases, such features and advantages will be obvious toa skilled artisan from the description or may be learned by the practiceof the disclosed embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

The detailed description refers to the accompanying drawings, in which:

FIG. 1 illustrates an example environment in which a dual-kite aerialvehicle operates in accordance with one or more embodiments;

FIG. 2 illustrates an example dual-kite aerial vehicle in accordancewith one or more embodiments;

FIG. 3 illustrates another example dual-kite aerial vehicle inaccordance with one or more embodiments;

FIG. 4 illustrates yet another example dual-kite aerial vehicle inaccordance with one or more embodiments;

FIG. 5 illustrates a block diagram of an example flight control systemimplemented in connection with a dual-kite aerial vehicle in accordancewith one or more embodiments;

FIG. 6 illustrates a flowchart of a series of acts for implementing adual-kite aerial vehicle in accordance with one or more embodiments;

FIG. 7 illustrates a block diagram of a computing device in accordancewith one or more embodiments.

DETAILED DESCRIPTION

One or more embodiments of the present disclosure include a dual-kiteaerial vehicle including multiple kite apparatuses capable of sustainingflight over an extended period of time while consuming little or nofuel. In particular, the dual-kite aerial vehicle includes a first kiteapparatus that flies at a first altitude. The dual-kite aerial vehicleadditionally includes a second kite apparatus that flies at a second(lower) altitude. The first kite apparatus is coupled to the second kiteapparatus via a tether that extends between the kite apparatuses. In oneor more embodiments, each of the kite apparatuses include respectiveflight controllers coupled to one or more actuators of the respectivekite apparatuses. As will be described in further detail below, theflight controllers can cooperatively control a flight path of thedual-kite aerial vehicle over an extended period of time.

To illustrate, as will be described in further detail below, thedual-kite aerial vehicle includes a first kite apparatus that maintainsflight at a first altitude and a second kite apparatus that maintainsflight at a second altitude (e.g., a lower altitude than the firstaltitude). In particular, the dual-kite aerial vehicle includes two kiteapparatuses designed for flight at different altitudes having differentair movements (e.g., air speeds, air masses). The different air movementbetween the first and second altitudes applies a larger force to thefirst kite apparatus relative to a corresponding force applied to thesecond kite apparatus thereby enabling the dual-kite aerial vehicle tomaintain flight as a result of the first kite apparatus pulling on thetether extending between the kite apparatuses.

The dual-kite aerial vehicle further includes a flight control systemfor controlling flight of the dual-kite aerial vehicle. In particular,the dual-kite aerial vehicle includes electrical components (e.g.,memory, a processor, electrical circuitry) coupled to various actuatorson the kite apparatuses capable of changing direction, altitude, speed,pitch, angle of attack, or other movement of the kite apparatuses thatenables sustained flight and/or causes the dual-kite aerial vehicle tofollow a predefined path. For example, where the dual-kite aerialvehicle includes hardware for providing bandwidth to a geographicregion, the flight control system can activate various actuators todirect one or both of the kite apparatuses along a flight path withinthe geographic region. As will be described in further detail below, theflight control system can include a flight controller for each kiteapparatus connected to actuators for controlling flight of theindividual kite apparatuses. In this way, the flight controllers cancooperatively control a flight path of the dual-kite aerial vehicle.

In addition to generally controlling a path of flight of the dual-kiteaerial vehicle along a predefined path or within a target geographicregion, the flight control system can additionally maintain a gradientair movement between air movements of the respective altitudes of thekite apparatuses. For example, in one or more embodiments, the flightcontrol system causes the dual-kite aerial vehicle to climb or descendsuch that the gradient air movement remains at a target differencebetween the current altitudes of the kite apparatuses. Alternatively, inone or more embodiments, the flight control system causes the dual-kiteaerial vehicle to alter a path until a target air motion gradient isfound.

In one or more embodiments, the flight controller maintains the gradientair movement by modifying a length of the tether extending between thekite apparatuses. For example, in one or more embodiments, the dual-kiteaerial vehicle includes a winch capable of extending and/or retractingthe tether. In one or more embodiments, the flight controller alters thelength of the tether to selectively change the altitude of one or bothkite apparatuses until a target gradient air motion is found. In thisway, the dual-kite aerial vehicle maintains predictable flightconditions that further extend a flight time of the dual-kite aerialvehicle while further enabling the flight controller to navigate a pathof the dual-kite aerial vehicle within a predefined geographic region.

Moreover, in one or more embodiments, the dual-kite aerial vehicleincludes features and functionality for utilizing environmentalconditions to power various components of the dual-kite aerial vehicle,thereby lengthening an amount of time that the dual-kite aerial vehiclecan remain in flight without docking for maintenance. For example, inone or more embodiments, the dual-kite aerial vehicle includes one ormore power generators that convert forces applied to the system (e.g.,the tether) to electrical energy to power the flight controllers and/oractuators of the kite apparatuses. In addition, in one or moreembodiments, one or both of the kite apparatuses include one or moresolar panels that convert solar energy to electrical energy for poweringthe flight controllers and/or actuators of the kite apparatuses.

While one or more embodiments described herein include kite apparatusesincluding conventional kite structures including a pliable fabric (e.g.,a carbon fiber fabric) that overlays a kite frame, the dual-kite aerialvehicle can alternatively include kite apparatuses having differentstructures. For example, in one or more embodiments, one or both of thekite apparatuses include a wing structure, drone structure, UAV, orother non-fabric structures coupled together via a tether extendingbetween apparatuses at different altitudes. For instance, as will bedescribed in further detail herein, in one or more embodiments, thedual-kite aerial vehicles include airfoil-shaped wing structures coupledtogether via a tether extending between first and second altitudes ofthe corresponding wing structures. Additional detail with respect todifferent example embodiments will be provided in further detail below.

The dual-kite aerial vehicle described herein provides a variety ofadvantages and benefits over conventional high-altitude UAVs. Forexample, by implementing light-weight kite and/or wing structures thatmaintain flights at different altitudes, the dual-kite aerial vehicleutilizes forces exerted on the kite apparatuses as a result of differentair movements corresponding to the altitudes of the respective kiteapparatuses. This maintains a constant tension on the tether extendingbetween the kite apparatuses thereby enabling the dual-kite aerialvehicle to maintain flight for an extended period while controlling aflight path of the dual-kite aerial vehicle over a predefined geographicregion.

In addition, the dual-kite aerial vehicle reduces fuel consumption byconverting various environmental forces to electrical energy to powercomponents of the dual-kite aerial vehicle. For example, by convertingsolar energy and/or forces applied as a result of the gradient airmovement to electrical energy, the dual-kite aerial vehicle can powervarious components of the dual-kite aerial vehicle without consumingfuel. As mentioned above, reducing fuel consumption in this way reducesan overall weight of the dual-kite aerial vehicle as well as costsassociated with storing and consuming fuel for powering the dual-kiteaerial vehicle, thereby reducing overall cost of operation of thedual-kite aerial vehicle.

In addition, by utilizing independent flight controls in addition to asingle tether extending between the kite apparatuses, the dual-kiteaerial vehicle facilitates a more predicable single point of forcebetween the kite apparatuses at the different altitudes that grantsgreater cooperative control over the dual-kite aerial vehicle. Having asingle point of force extending between the kite apparatuses providesgreater control to the respective flight controllers to navigate apredictable flight path while maintaining a constant gradient airmovement between the different altitudes of the kite apparatuses.Indeed, by tethering the kite apparatuses using a long, single tether,the dual-kite aerial vehicle can maintain greater control of thedual-kite aerial vehicle while taking advantage of significantlydifferent gradient air movement that would not be possible utilizingmultiple tethers extending between the first and second kiteapparatuses.

As illustrated by the foregoing discussion, the present disclosureutilizes a variety of terms to described features and benefits of thedual-kite aerial vehicle. Additional detail is now provided regardingthe meaning of these terms.

As used herein, a “kite apparatus” refers to a flight structure at anend of a tether and forming a part of an unmanned aerial vehicle capableof maintaining flight over an extended period of time. For example, akite structure can be a kite, a wing, or other structure having variousshapes and sizes in accordance with one or more embodiments describedherein. For instance, where a dual-kite aerial vehicle includes two kiteapparatuses coupled together via one or more tethers tether, a kiteapparatus may refer to a structure including a wing frame, materialstretched over at least a portion of the wing frame, and one or moreactuators for modifying an angle, direction, or other movement of thewing frame. In addition, the kite apparatus can include a payloadincluding electrical hardware for communicating signals (e.g., providinginternet connectivity), solar panels for collecting solar energy, one ormore turbines or other power generators for generating electricalenergy, other components for carrying out a flight mission of thedual-kite aerial vehicle.

As used herein, “air movement” refers to a measurement associated withair or wind at a corresponding altitude. For example, air movement mayrefer to wind speed, wind intensity, air mass, air flow, or other unitof measurement that applies or otherwise contributes to a force appliedto a surface of the kite apparatus. In one or more embodiments describedherein, a “gradient air movement” refers to a difference in air movementbetween two different altitudes. For instance, in one or moreembodiments, a gradient air movement refers to a difference in windspeed between a first measurement of wind speed at a first altitude anda second measurement of wind speed at a second altitude.

As mentioned above, the dual-kite aerial vehicle includes a flightcontrol system including one or more flight controllers. As used herein,a “flight controller” refers to hardware, software, or a combination ofboth for controlling a flight path of a corresponding kite apparatus.For example, in one or more embodiments, a flight controller includesone or more processors for executing instructions associated withmaintaining flight, controlling altitude, and/or navigating a flightpath over a predefined geographic area. For instance, in one or moreembodiments, a flight controller provides a control signal to activateone or more actuators of a corresponding kite apparatus to modify aflight path, change an altitude, or otherwise control motion of the kiteapparatus. The flight controller can additionally include communicationhardware for communicating with the flight controller of the other kiteapparatus to cooperatively control a flight path of the dual-kite aerialvehicle. Additional features and functionality of the flight controllerswill be provided in further detail below.

Additional detail will now be given in relation to illustrative figuresportraying example embodiments. For example, FIG. 1 illustrates anenvironment in which a dual-kite aerial vehicle may operate inaccordance with one or more embodiments described herein. For example,FIG. 1 illustrates an example environment in which one or morehigh-altitude dual-kite aerial vehicles provide connectivity (e.g.,Internet connectivity) to one or more areas. For example, the dual-kiteaerial vehicle may be dispatched to provide connectivity to areas withno connectivity or limited connectivity (e.g., 2G or less).

In particular, FIG. 1 illustrates an example environment 100 including afleet operation center (FOC) 102 that communicates with a number ofdual-kite aerial vehicles including features and functionality asdescribed in one or more embodiments herein. By way of example shown inFIG. 1, the environment 100 includes a dual-kite aerial vehicle 104 incommunication with a gateway 106 and customer premise equipment (CPE)108. As further shown, the gateway 106 communicates with the FOC 102 byway of a communication link 110 (e.g., radio frequency (RF) link), databackhaul link) over which the FOC 102 provides command and control dataand receives data from the dual-kite aerial vehicle 104. While FIG. 1illustrates an example environment 100 including the FOC 102 and threedual-kite aerial vehicles, in one or more embodiments, the FOC 102provides a single FOC to any number of dual-kite aerial vehicles by wayof representative communication channels, gateways, and CPE.

By way of example, the FOC 102 can make use of various types ofcomputing devices to receive and/or transmit data to the UAVs by way ofrespective gateways. For example, in one or more embodiments, the FOC102 may make use of one or more server device(s). In addition, in one ormore embodiments, the FOC 102 includes or otherwise implements variousnon-mobile or mobile client devices such as desktop computers, servers,laptops, tablets, etc.

In addition, as shown in FIG. 1, in one or more embodiments, the FOC 102communicates with the dual-kite aerial vehicles by way of gateways via acommunication link 110 (e.g., an RF link) between the FOC 102 andrespective gateways. It will be understood that the FOC 102 cancommunicate with the gateways and/or dual-kite aerial vehicles by way ofone or multiple networks that make use of one or more communicationplatforms or technologies suitable for transmitting data. In one or moreembodiments, the FOC 102 communicates with the gateways via an RF link.Alternatively, in one or more embodiments, the FOC 102 communicates withthe gateways via other types of networks using various communicationtechnologies and protocols.

In one or more embodiments, the dual-kite aerial vehicle is launchedfrom an aircraft at an altitude having a target air movement. Oncelaunched, the flight controllers of the respective kite apparatuses cancause the dual-kite aerial vehicle to stabilize at a target altitude.Once stabilized, the dual-kite aerial vehicle can maintain flight withina target geographic region and provide Internet backhaul to ground-basedcellular base stations (e.g., CPE). In one or more embodiments, command,control, and telemetry for the dual-kite aerial vehicle is accomplishedfrom the FOC 102 through a secure channel over the Internet backhaul. Inone or more embodiments, a secondary link is provided via a satellitecommunication system.

In one or more embodiments, the dual-kite aerial vehicle primarilyperforms operations independent from a satellite communication (SATCOM)datalink. For example, in one or more embodiments, the dual-kite aerialvehicle utilizes a SATCOM datalink exclusively for command and controland emergency operations. In one or more embodiments, a radio frequencydatalink is used to provide connectivity between the dual-kite aerialvehicle and base stations/gateway. In one or more embodiments, a radiofrequency datalink is used to provide connectivity between the dual-kiteaerial vehicle and customer end points. In addition, in one or moreembodiments, the dual-kite aerial vehicle connects to a base station(e.g., ground entry point/gateway) via an optical link.

As mentioned above, systems and methods described herein accomplish manyof the above benefits by implementing a dual-kite aerial vehicleincluding kite apparatuses connected via a tether extending between afirst kite apparatus at a first altitude and a second kite apparatus ata second altitude. For example, FIG. 2 illustrates an example dual-kiteaerial vehicle 202 including a first kite apparatus 204 at a firstaltitude and a second kite apparatus 206 at a second (lower) altitude.As shown in FIG. 2, the first kite apparatus 204 maintains flight at afirst altitude having a first air movement 208 while the second kiteapparatus 206 maintains flight at a second altitude having a second airmovement 210. As further shown, the dual-kite aerial vehicle 202includes a tether 212 extending between the first kite apparatus 204 atthe first altitude and the second kite apparatus 206 at the secondaltitude.

As indicated above, the dual-kite aerial vehicle 202 maintains agradient air movement corresponding to a target difference in airmovement between the first air movement 208 and the second air movement210. In particular, because the first kite apparatus 204 maintainsflight at a higher altitude than the second kite apparatus 206, thefirst air movement 208 at the first altitude is generally significantlyhigher than the second air movement 210 at the second altitude. As aresult of the gradient air movement, the first kite apparatus 204 causesan upward and lateral force (via the tether 212) to be applied on thesecond kite apparatus 206, as shown in FIG. 2.

As mentioned above and as shown in the example of FIG. 2, the dual-kiteaerial vehicle 202 includes a single tether 212 extending between thefirst kite apparatus 204 and the second kite apparatus 206. Indeed, incontrast to many conventional kite systems that include multiple linesfor controlling a path of a kite, the dual-kite aerial vehicle 202utilizes a single tether 212 to connect the kite apparatuses 204, 206while relying primarily on the flight controllers 216, 228 to control atrajectory of the dual-kite aerial vehicle 202. Accordingly, the tether212 provides a point of force between the first kite apparatus 204 andthe second kite apparatus 206 that enables the dual-kite aerial vehicle202 to maintain a constant gradient air movement between the first airmovement 208 and the second air movement 210 corresponding to altitudesof the respective kite apparatuses 204, 206.

The tether 212 can be made from a variety of materials. For example, inone or more embodiments, the tether 212 includes a conductive lineextending between the first kite apparatus 204 and second kite apparatus206 that enables flight controllers 216, 228 of the respective kiteapparatuses 204, 206 to communicate. Alternatively, in one or moreembodiments, the tether 212 includes a non-conductive material thatencloses a conductive path (e.g., one or more wires) that passes betweenthe flight controllers 216, 228 via the tether 212. Alternatively, aswill be described in further detail below, the flight controllers 216,228 can communicate wirelessly using one or more antennas or otherwireless communication devices.

In one or more embodiments, the tether 212 has a significantly longerlength than the dimension of the kite structures and/or lines connectingthe kite structures to corresponding flight controllers. As anillustrative example, in one or more embodiments, the first kitestructure 214 includes approximately ten square meters of material overa kite frame and a three-meter line connecting the first kite structure214 to the first flight controller 216. In contrast, the tether 212 mayinclude one or more kilometers of line extending between the first andsecond kite apparatuses 204, 206. Accordingly, the tether 212 can have asignificantly longer length than dimensions of the kite structure 214and/or lines (e.g., command lines 219) connecting the kite structure 214to the flight controller 216 (e.g., by a factor of 10, 100, 1000).

As shown in FIG. 2, the kite apparatuses 204, 206 includes variouscomponents for accomplishing various features and functionalitydescribed herein. For instance, in the example shown in FIG. 2, thefirst kite apparatus 204 includes kite structure 214 including a frameand material for catching air and providing an upward lifting force onthe first kite apparatus 204. The kite structure 214 can include avariety of materials including nylon, carbon fiber, or other sturdy andlightweight material capable of capturing air movement and maintainingflight over an extended period of time.

In one or more embodiments, the first kite apparatus 204 includessensors 215 for detecting a measurement of the air movement 208. Forexample and not by way of limitation, the sensors 215 can includetemperature sensors, barometers, accelerometers (e.g., 3 axisaccelerometers), gyroscopes (e.g., three-axis gyroscopes), magnetometers(e.g., three-axis magnetometers), GPS, or other types of sensors capableof detecting and measuring movement of the kite apparatus 204 and/ordetecting and measuring the first air movement 208 corresponding to thefirst altitude of the first kite apparatus 204 and coming into contactwith the kite structure 214. Further, while FIG. 2 illustrates anexample in which the sensors 215 are implemented within the kitestructure 214, in one or more embodiments, some or all of the sensors215 described above are included within the flight controller 216coupled to the kite structure 214.

As mentioned above, and as further shown in FIG. 2, the first kiteapparatus 204 includes a flight controller 216 including software,hardware, or a combination of hardware and software for controlling aflight path of the first kite apparatus 204 and carrying out a flightmission in accordance with instructions stored on a computer readablestorage medium. Indeed, as will be described in further detail below,the flight controller 216 can include a processor and electricalhardware for carrying out various flight instructions and maintainingflight of the dual-kite aerial vehicle 202 over a geographic region fora target period of time. In one or more embodiments, the flightcontroller 216 includes or otherwise implements one or more types ofcomputing devices including one or more processors and a non-transitorycomputer readable medium for executing instructions. Additional detailwith regard to different types of computing devices that may beimplemented within the flight controller 216 is described in referenceto FIGS. 5-7.

The flight controller 216 can direct a flight path of the first kiteapparatus 204 in a variety of ways. In particular, as shown in FIG. 2,the first kite apparatus 204 includes one or more actuators 218 coupledto the kite structure 214, flight controller 216 and command lines 219.In one or more embodiments, the flight controller 216 modifies theflight path by activating one or more of the actuators 218 causing thefirst kite apparatus 204 to change directions, speed, pitch, angle ofattack, or other movement that affects a trajectory of the first kiteapparatus 204.

The actuators 218 can refer to various types of actuators forcontrolling a flight path of the first kite apparatus 204. For example,in one or more embodiments, the actuators 218 refer to mechanicalactuators that control movement of or apply a force to a portion of thekite structure 214. For instance, the actuators 218 can refer tomechanical arms, levers, or other components that pull, release, orotherwise apply a force to command lines 219 attached to the kitestructure 214 and cause the first kite apparatus 204 to changedirections, change a pitch or angle of attack, or modify a trajectory ofthe first kite apparatus 204. As used herein, an actuator may refer toany type of actuator including, by way of example, a hydraulic actuator,electric actuator, or mechanical actuator.

As shown in FIG. 2, the first kite apparatus 204 additionally includes awinch 220 coupled to the flight controller 216 and the tether 212. Inaddition to activating the actuators 218 to modify a trajectory of thefirst kite apparatus 204, the flight controller 216 can additionalcontrol a winch 220 (or other type of actuator) for controlling analtitude of the first kite apparatus 204 relative to the second kiteapparatus 206. For example, based on a detected air speed (e.g., asdetected by the sensors 215), the fight controller 216 can cause thewinch 220 to extract or retract the tether 212, thereby causing thefirst kite apparatus 204 to raise or lower in altitude relative to thesecond kite apparatus 206.

As further shown in FIG. 2, the first kite apparatus 204 includes apower generator 222 for converting a force applied by the tether 212 toelectrical power. In one or more embodiments, the power generator 222includes turbine, a crank, or other type of electric generator capableof converting mechanical energy into electrical power. Indeed, as thefirst air movement 208 causes the first kite apparatus 204 to apply amechanical force on the tether 212, the power generator 222 can turn,move, or other mechanism to generate mechanical energy which the powergenerator 222 converts to electrical power. In one or more embodiments,the power generator 222 additionally stores a reserve of power (e.g.,charges a battery) that facilitates continuous or near-continuousoperation of the flight controller 216 and various actuators of thefirst kite apparatus 204.

As mentioned above, the dual-kite vehicle 202 can maintain a gradientair movement between the first air movement 208 and the second airmovement 210 such that a constant force is being applied to the tether212. By applying a constant force to the tether 212, the power generator222 can provide a constant source of electrical energy for powering theflight controller 216 and other components of the first kite apparatus204 powered by electrical power. Accordingly, in one or moreembodiments, the flight controller 216 maintains a trajectory andaltitude in accordance with a target gradient air movement in order forthe power generator 222 to provide a constant (or near constant) sourceof power.

In one or more embodiments, the power generator 222 provides a primarysource of power for the actuators 218, flight controller 216, winch 220,and other components of the first kite apparatus 204. Alternatively, inone or more embodiments, the power generator 222 provides a supplementalpower source for a primary power source (e.g., a battery, a fuel-poweredengine) that enables the dual-kite aerial vehicle 202 to maintain flightfor a longer period of time.

In one or more embodiments, the first kite apparatus 204 additionallyincludes an antenna 224 coupled to the flight controller 216. Utilizingthe antenna 224, the flight controller 216 can communicate with anotherflight controller (e.g., flight controller 228) of the second kiteapparatus 206. In addition, the flight controller 216 can utilize theantenna 224 to communicate with flight controllers of other dual-kiteaerial vehicles (e.g., to avoid collisions). The flight controller 216can additionally receive communications from other flight controllers orfrom the FOC 102.

In addition to the components illustrated in FIG. 2, the first kiteapparatus 204 can include one or more additional components. Forexample, in one or more embodiments, the first kite apparatus 204includes a heater or device for providing temperature control. Inaddition, in one or more embodiments, the first kite apparatus 204includes a camera for capturing images or otherwise enabling an operatorto visually identify potential problems with a dual-kite aerial vehiclewhile in flight.

As mentioned above, in addition to the first kite apparatus 204, thedual-kite aerial vehicle 202 includes a second kite apparatus 206 thatmaintains flight at a second altitude lower than the first altitude ofthe first kite apparatus 204. The second kite apparatus 206 can includemany similar components as described above in connection with the firstkite apparatus 204. For example, as shown in FIG. 2 the second kiteapparatus 206 includes a kite structure 226, sensors 227, a flightcontroller 228, actuators 230, command lines 231, a winch 232, and apower generator 234. The kite structure 226, sensors 227, flightcontroller 228, actuators 230, command lines 231, winch 232, and powergenerator 234 of the second kite apparatus 206 may share similarfeatures and functionality as corresponding components of the first kiteapparatus 204 described above. Accordingly, one or more embodimentsdescribed above in connection with components of the first kiteapparatus 204 can similarly apply to the second kite apparatus 206.

Furthermore, in the example second kite apparatus 206 shown in FIG. 2,the second kite apparatus 206 includes multiple antennas coupled to theflight controller 228. In particular, the second kite apparatus 206includes a first antenna 236 for communicating with the flightcontroller 216 of the first kite apparatus 204 and a second antenna 238(or multiple antennas) for providing internet connectivity to clientdevices within a geographic region. Alternatively, the second kiteapparatus 206 can include additional (or fewer) antennas forcommunicating between flight controllers, the FOC 102, and for providinginternet connectivity to client devices.

As indicated above, the dual-kite aerial vehicle 202 can include aflight control system including both the first flight controller 216 andthe second flight controller 228 that cooperatively control a flightpath and altitude of the respective kite apparatuses 204, 206. Indeed,the first flight controller 216 can communicate with the second flightcontroller 228 to simultaneously activate actuators 218, 230 and winches220, 234 on both the first kite apparatus 204 and second kite apparatus206 to more effectively modify a trajectory of the dual-kite aerialvehicle 202 and/or altitudes of the respective kite apparatuses 204,206.

In addition to utilizing the first and second winches 220, 234 tofine-tune the altitudes of the first kite apparatus 204 and the secondkite apparatus 206 in order to maintain a constant gradient air movementbetween the air movements 208, 210, the flight controllers 216, 228 canutilize one or both of the winches 220, 234 to elevate the altitude ofthe dual-kite aerial vehicle 202. In particular, the flight controllers216, 228 can cause one or both of the winches 220, 234 to alternatebetween extending and retracting the tether 212 to create a flappingmotion of the first kite structure 214 (and/or second kite structure226) and cause the dual-kite aerial vehicle 202 to move upward. Forexample, in one or more embodiments, the second flight controller 228creates the flapping motion of the first kite structure 214 byalternatively extending and retracting the second winch 232 insuccession over a brief period of time.

While FIG. 2 illustrates an example in which the dual-kite aerialvehicle 202 includes two kite structures 214, 226 coupled to independentflight controllers 216, 228, the dual-kite aerial vehicle 202 canalternatively include different structures and configurations ofcomponents. For example, in one or more embodiments, as an alternativeto kite structures, the dual-kite aerial vehicle 202 can include wingstructures, drone structures, or other structures capable of utilizingan air movement to maintain flight over a period of time. In addition,while FIG. 2 illustrates an embodiment in which the actuators, flightcontrollers, winch, and power generator are implemented apart from thekite structures, some or all of these components can be implementedwithin a common structure on one or both of the kite apparatuses.

As an example, FIG. 3 illustrates a dual-kite aerial vehicle includingtwo wing structures in accordance with one or more embodiments. Inparticular, as shown in FIG. 3, the dual-kite aerial vehicle 302includes a first kite apparatus 304 at a first altitude and a secondkite apparatus 306 at a second (lower) altitude. As shown in FIG. 3, thefirst kite apparatus 304 maintains flight at a first altitudecorresponding to a first air movement 308 while the second kiteapparatus 306 maintains flight at a second altitude corresponding to asecond air movement 310. Similar to one or more embodiments describedherein, the first kite apparatus 304 and the second kite apparatus 306maintain flights at respective altitudes to maintain a target gradientair movement between the first air movement 308 and the second airmovement 310.

Similar to the example shown in FIG. 2, the dual-kite aerial vehicle 302includes a tether 312 extending between the first kite apparatus 304 andthe second kite apparatus 306. The tether 312 can consist of a singletether 312 having a length that extends one or more kilometers betweenthe first kite apparatus 304 and the second kite apparatus 306. Thetether 312 can include similar features and functionality as the tether212 described above in connection with FIG. 2. For example, the tether312 can provide a point of force between the kite apparatuses 304, 306that facilitates generating electrical energy to power components offlight controllers, actuators, and other components of the kiteapparatuses 304, 306.

As shown in FIG. 3, the first kite apparatus 304 includes a wingstructure 314 having a surface capable of catching wind from the airmovement 308 and creating an upward force on the dual-kite aerialvehicle 302. The wing structure 314 can be constructed using a varietyof light-weight materials. In addition, in one or more embodiments, thewing structure 314 has an airfoil shape designed based on a predictedaltitude range and/or expected air movement 308 at the first altitude.In one or more embodiments, the wing structure 314 of the first kiteapparatus 304 is similar to a wing structure 326 of the second kiteapparatus 306. Alternatively, in one or more embodiments, the wingstructure 314 of the first kite apparatus 304 has an airfoil shapespecifically designed for a higher altitude while a wing structure 326of the second kite apparatus 306 has a different airfoil shape based onan expected lower altitude of the second kite apparatus 306.

While the wing structure 314 of the first kite apparatus 304 (andsimilarly the wing structure 326 of the second kite apparatus 306)differs from the kite structures described above in connection with FIG.2, the kite apparatuses 304, 306 shown in FIG. 3 include many similarcomponents as described above in connection with FIG. 2. For example,the first kite apparatus 304 includes sensors 315, a flight controller316, actuators 318, a power generator 322, and winch 324 that mayinclude similar features and functionality as corresponding componentsdescribed above in connection with the example shown in FIG. 2.Similarly, the second kite apparatus 306 includes sensors 327, a flightcontroller 328, actuators 330, a power generator 332, and a winch 334that may include similar features and functionality as correspondingcomponents of the first kite apparatus 304.

Further, while the flight controller 316 of the first kite apparatus 304may include similar features and functionality as the flight controllersdescribed in FIG. 2, in one or more embodiments, the flight controller316 has a different structure than the flight controllers describedabove in reference with FIG. 2. For example, as shown in FIG. 3, in oneor more embodiments, the flight controller 316 is enclosed within thewing structure 314 of the first kite apparatus 304. In one or moreembodiments, the flight controller 316 is coupled to various componentsof the kite apparatus 304 (e.g., the sensors 315, actuators 318, powergenerator 322, winch 324, and solar panels 320) via wires or otherelectrical conductors that pass through the wing structure 314 toprovide an electrical connection between the flight controller 316 andvarious components of the kite apparatus 304. In one or moreembodiments, the flight controller 316 includes hardware forcommunicating wireless with various components of the first kiteapparatus 304. As further shown, the flight controller 328 of the secondkite apparatus 306 is similarly enclosed within the wing structure 326of the second kite apparatus 306 and may include similar features andfunctionality as the first flight controller 316.

As mentioned above, the first kite apparatus 304 includes a powergenerator 322 for converting a force applied to the tether 312 toelectrical energy to power components of the first kite apparatus 304.In addition, in one or more embodiments, the first kite apparatus 304includes one or more solar panels 320 for collecting solar power tofurther provide electrical energy to components of the first kiteapparatus 304. Similarly, the second kite apparatus 306 can include oneor more solar panels 336 for collecting solar power and providingelectrical energy to components of the second kite apparatus 306.

In addition, in one or more embodiments, one or both of the kiteapparatuses 304, 306 include an additional source of power formaintaining high-altitude flight. For example, in addition to the powergenerators 322, 332 that provides power to electronic devices includingthe flight controllers 316, 328, actuators 318, 330, and other low-powerdevices on the respective kite apparatuses 304, 306, in one or moreembodiments, one or both of the kite apparatuses 304, 306 include abattery or fuel-powered engine for providing additional flightfunctionality. Accordingly, while one or more embodiments describedherein describe power generators as providing the sole source ofelectrical power to the respective structures, in one or moreembodiments, the kite apparatuses 304, 306 include additional sources ofpower unrelated to or non-dependent on air movement, solar exposure, orother environmental conditions.

FIG. 4 illustrates yet another example embodiment of a dual-kite aerialvehicle 402 in accordance with one or more embodiments described herein.In particular, FIG. 4 illustrates a dual-kite aerial vehicle 402including a first kite apparatus 404 at a first altitude correspondingto a first air movement 408 and a second kite apparatus 406 at a secondaltitude corresponding to a second air movement 410. Similar to one ormore embodiments described herein, the first kite apparatus 404 and thesecond kite apparatus 406 maintain flights at respective altitudes tomaintain a target gradient air movement between the first air movement408 and the second air movement 410.

As further shown in FIG. 4, the dual-kite aerial vehicle 402 includes atether 412 that extends between the first kite apparatus 404 and thesecond kite apparatus 406. In particular, the dual-kite aerial vehicle402 includes a single tether 412 having a significantly longer length(e.g., by a factor of 10, 100, 1000) than one or more dimensions of therespective structures of the kite apparatuses 404, 406 and/or lines(e.g., command lines) connecting a flight controller to a correspondingwing structure. The tether 412 can have similar features andfunctionality as the tethers described in connection with FIGS. 2 and 3above.

As shown in FIG. 4, the first kite apparatus 404 and the second kiteapparatus 406 each have wing structures 414, 426 including similarfeatures as the wing structures described above in connection with FIG.3. In one or more embodiments, the wing structures 414, 426 includesimilar airfoil shapes and dimensions. Alternatively, in one or moreembodiments, the wing structure 414 of the first kite apparatus 404includes airfoil dimensions designed for a predicted first altitudecorresponding to the first air movement 408 while the second wingstructure 426 of the second kite apparatus 406 includes airfoildimensions designed for a predicted second altitude corresponding to thesecond air movement 410.

Each of the first kite apparatus 404 and second kite apparatus 406 caninclude similar components as described above in connection with FIGS.2-3. For example, as shown in FIG. 4, the first kite apparatus 404includes sensors 415, a flight controller 416, actuators 418, a powergenerator 420, an antenna 422, and solar panels 424 on the wingstructure 414. As further shown, the second kite apparatus 404 includessensors 427, a flight controller 428 enclosed within the wing structure426, actuators 430, a power generator 432, a winch 434, and solar panels436.

As shown in FIG. 4, the first kite apparatus 404 and second kiteapparatus 406 include one or more differences from other embodimentsdescribed herein. For example, the first kite apparatus 404 includes aflight controller 416 and antenna 422 within a different structure thanthe first wing structure 414. Alternatively, the second kite apparatus406 includes an enclosed flight controller 428 within the second wingstructure 426. In addition, in contrast to one or more embodimentsdescribed herein, the first kite apparatus 404 does not include a winch,enabling the second kite apparatus 406 to have exclusive control overthe length of the tether 412 using the winch 434 included as part of thesecond wing structure 426. Alternatively, in one or more embodiments,the second kite apparatus 406 includes a winch 434 outside the wingstructure 434 (e.g., similar to the winch 232 shown in FIG. 2).

Moreover, in one or more embodiments, the dual-kite aerial vehicleincludes different structures between the kite apparatuses. For example,in one or more embodiments, the first kite apparatus includes a kitestructure while the second kite apparatus includes a wing structure. Inthis way, the second kite apparatus provides a counter-weight thatgrants additional control to the flight controllers to modify orotherwise maintain a predefined flight path under a variety of flightconditions. In this example, a winch positioned on the counter-weight(e.g., the second kite apparatus including the wing structure) couldcreate a counter-flapping motion of the kite structure of the first kiteapparatus when causing the dual-kite aerial vehicle to climb altitude.

Proceeding onto FIG. 6, additional detail will be provided regardingvarious components and capabilities of an example flight control systemin accordance with one or more embodiments described herein. Inparticular, FIG. 6 illustrates an example flight control system 502including flight controllers 504 a-b for respective kite apparatuses. Asshown in FIG. 6, the flight control system 502 includes a first flightcontroller 504 a including a communication manager 506, an altitudemanager 508 a flight path manager 510, and data storage 512 includingmission data 514 and sensor data 516. The second flight controller 504 bcan include similar components as the first flight controller 504 a.Accordingly, features and functionality described in connection with thefirst flight controller 504 a can similarly apply to the second flightcontroller 504 b.

As just mentioned, and shown in FIG. 5, the first flight controller 504a includes a communication manager 506. In one or more embodiments, thecommunication manager 506 manages and facilitates communication betweenthe first flight controller 504 a and other devices. For example, thecommunication manager 506 can send and receive communications (e.g.,wired or wireless communications) to and from the second flightcontroller 504 b to coordinate movement of a dual-kite aerial vehicle.For instance, the communication manager 506 on the first kite apparatuscan receive data captured from one or more sensors on the second kiteapparatus (e.g., from the second flight controller 504 b) for use indetermining an optimal flight path. In addition, the communicationmanager 506 can transmit data to the second flight controller 504 b. Inthis way, the communication manager 506 can facilitate coordination inmaintaining a particular flight path and/or target gradient air movementbetween the first flight controller 504 a and the second flightcontroller 504 b.

In addition to facilitating communication between the first flightcontroller 504 a and the second flight controller 504 b, thecommunication manager 506 can additionally manage communication betweenone or both of the flight controllers 504 a-b and a ground station. Forexample, in one or more embodiments, the communication manager 506facilitates sending and receiving data to and from a FOC 102. Forinstance, the communication manager 506 can receive mission instructionsincluding a target flight path and other relevant data. In addition, thecommunication manager 506 can transmit a current position and other datato the FOC 102.

As further shown in FIG. 5, the first flight controller 504 a includesan altitude manager 508. In particular, the altitude manager 508controls an altitude of the first kite controller 504 a relative to thesecond kite controller 504 b. For instance, in one or more embodiments,the altitude manager 508 controls a length of a tether extending betweena first kite apparatus and a second kite apparatus by activating one ormore actuators and/or a winch coupled to the tether. In particular, thealtitude manager 508 can receive sensor data and determine whether thetether needs to lengthened or shortened to maintain a target gradientair movement between a first detected air movement at an altitude of thefirst kite apparatus and a second detected air movement at an altitudeof the second kite apparatus.

To illustrate, if the altitude manager 508 determines (e.g., based oncaptured sensor data from both the kite apparatuses) that a gradient airmovement is below a target gradient air movement, the altitude manager508 activates the winch and causes the winch to extend a length of thetether. Alternatively, if the altitude manager 508 determines that agradient air movement is above a target gradient air movement, thealtitude manager 508 activates the winch and causes the winch to retractthe length of the tether. Where each of the kite apparatuses include arespective winch, the altitude manager 508 on either (or both) of theflight controllers 504 a-b can simultaneously activate respectivewinches. Alternatively, where only one of the kite apparatuses include awinch, the altitude manager 508 on the corresponding flight controllercan activate the winch.

As further shown in FIG. 5, the first flight controller 504 a includes aflight path manager 510. In particular, the flight path manager 510manages a path of the dual-kite aerial vehicle over a geographic area.For example, where one or both of the flight controllers 504 a-b receiveinstructions from the FOC 102, the flight path manager 510 can activateactuators of the kite apparatuses to maintain the desired flight path.In particular, based on a received flight mission and further based oncaptured data from sensors, the flight path manager 510 can selectivelyactive one or more actuators on a corresponding kite apparatus to causethe kite apparatus to change a flight path. In addition, the flight pathmanager 510 of the first flight controller 504 a can utilize thecommunication manager 506 to coordinate with the second flightcontroller 504 b to similarly activate actuators on the second kiteapparatus. In this way, the flight path manager 510 on the first flightcontroller 504 a can coordinate with a flight path manager on the secondflight controller 504 b to control a flight path of the dual-kite aerialvehicle.

As further shown in FIG. 5, the flight controller 504 a includes a datastorage 512 including mission data 514. The mission data 514 can referto any data pertaining to a directive of the dual-kite aerial vehicle.For example, the mission data 514 can include a defined geographic areaover which the dual-kite aerial vehicle must remain. In addition, themission data 514 can include a target gradient air movement that theflight controllers 504 a-b are directed to maintain. Further, themission data 514 can include data for providing bandwidth or internetconnectivity to client devices over a geographic area.

The data storage 512 can further include sensor data 516. The sensordata 516 can include any raw or processed data captured by one or moresensors implemented on the dual-kite aerial vehicle. For example, thesensor data 516 can include temperature data captured by a temperaturesensor (e.g., a thermistor circuit), air movement data captured by awind sensor (e.g., an anemometer), altitude data captured using one ormore barometers, and other data captured by one or more sensorsimplemented within the flight controllers 504 a-b and/or on a structureof a corresponding kite apparatus. As mentioned above, sensor data 516can include data captured by sensors of a corresponding kite apparatusin addition to data captured by sensors of a different kite apparatus.

Each of the components 506-512 of the first flight controller 504 a (andcorresponding components of the second flight controller 504 b) may bein communication with one another using any suitable communicationtechnologies. It will be recognized that although components 506-512 andtheir corresponding elements are shown to be separate in FIG. 5, any ofcomponents 506-512 and their corresponding elements may be combined intofewer components, such as into a single facility or module, divided intomore components, or configured into different components as may serve aparticular embodiment.

The components 506-512 and their corresponding elements can comprisesoftware, hardware, or both. For example, the components 506-512 andtheir corresponding elements can comprise one or more instructionsstored on a computer-readable storage medium and executable byprocessors of one or more computing devices. The components 506-512 andtheir corresponding elements can comprise hardware, such as a specialpurpose processing device to perform a certain function or group offunctions. Additionally, or alternatively, the components 506-512 andtheir corresponding elements can comprise a combination ofcomputer-executable instructions and hardware.

Turning now to FIG. 6, this FIG. illustrates a flowchart of a series ofacts 600 of implementing a dual-kite aerial vehicle in accordance withone or more embodiments. In particular, FIG. 6 illustrates a series ofacts performed by one or a combination of multiple flight controllers onrespective kite apparatuses of the dual-kite aerial vehicle. While FIG.6 illustrates acts according to one or more embodiments, alternativeembodiments may omit, add to, reorder, and/or modify any of the actsshown in FIG. 6. The acts of FIG. 6 can be performance as part of amethod. Alternatively, a non-transitory computer readable medium cancomprise instructions, that when executed by one or more processors,cause a computing device to perform the acts of FIG. 6. In still furtherembodiments, a system can perform the acts of FIG. 6.

As shown in FIG. 6, the series of acts 600 includes an act 610 ofdetermining, by a first flight controller of a first kite apparatus, afirst air movement at a first altitude. For example, in one or moreembodiments, the act 610 includes determining, by a first flightcontroller of a first kite apparatus, a first air movement at a firstaltitude corresponding to an altitude of the first kite apparatus. Forexample, in one or more embodiments, sensors on the first kite apparatuscapture a measurement of wind speed (or other air movement) at the firstaltitude corresponding to an altitude of the first kite apparatus.

The series of acts 600 further includes an act 620 of determining, by asecond flight controller of a second kite apparatus, a second airmovement at a second altitude. For example, in one or more embodiments,the act 620 includes determining, by a second flight controller of asecond kite apparatus, a second air movement at a second altitudecorresponding to an altitude of the second kite apparatus. For example,in one or more embodiments, sensors on the second kite apparatus capturea measurement of wind speed (or other air movement) at the secondaltitude (e.g., lower than the first altitude) corresponding to analtitude of the second kite apparatus.

The series of acts 600 further includes an act 630 of determining agradient air movement based on a difference between the first airmovement and the second air movement. For example, in one or moreembodiments, the act 630 includes determining a gradient air movementbased on a difference between the first air movement and the second airmovement. In one or more embodiments, the gradient air movement includesa dynamic measurement between current altitudes of the first and secondkite apparatuses.

The series of acts 600 further includes an act 640 of modifying thegradient air movement by causing a tether extending between the firstkite apparatus and the second kite apparatus to extend or retract. Forexample, in one or more embodiments, the act 640 includes modifying thegradient air movement by causing a tether extending between the firstkite apparatus and the second kite apparatus to extend or retract basedon the determined gradient air movement and a target gradient airmovement. For example, in one or more embodiments, one or both of theflight controllers receive mission instructions including a targetgradient air movement to maintain over a course of a flight.

In one or more embodiments, modifying the gradient air movementincludes, if the determined gradient air movement is greater than thetarget gradient air movement, activating a winch on the second kiteapparatus to retract a length the tether. Alternatively, in one or moreembodiments, modifying the gradient air movement includes, if thedetermined gradient air movement is less than the target gradient airmovement, activating the winch on the second kite apparatus to extendthe length of the tether. Moreover, if the determined gradient airmovement is the same (or within a defined margin of error) of the targetgradient air movement, the method includes not activating the winch tomaintain the present gradient air movement.

In one or more embodiments, the method 600 further includes raisingaltitudes of both the first kite apparatus and the second kiteapparatus. For example, in one or more embodiments, the method 600includes activating the winch to alternatively extend and retract thelength of the tether extending between the first kite apparatus and thesecond kite apparatus to generate a lifting force on both the first kiteapparatus and the second kite apparatus.

Embodiments of the present disclosure may comprise or utilize a specialpurpose or general-purpose computer including computer hardware, suchas, for example, one or more processors and system memory, as discussedin greater detail below. Embodiments within the scope of the presentdisclosure also include physical and other computer-readable media forcarrying or storing computer-executable instructions and/or datastructures. In particular, one or more of the processes described hereinmay be implemented at least in part as instructions embodied in anon-transitory computer-readable medium and executable by one or morecomputing devices (e.g., any of the media content access devicesdescribed herein). In general, a processor (e.g., a microprocessor)receives instructions, from a non-transitory computer-readable medium,(e.g., a memory, etc.), and executes those instructions, therebyperforming one or more processes, including one or more of the processesdescribed herein.

Computer-readable media can be any available media that can be accessedby a general purpose or special purpose computer system.Computer-readable media that store computer-executable instructions arenon-transitory computer-readable storage media (devices).Computer-readable media that carry computer-executable instructions aretransmission media. Thus, by way of example, and not limitation,embodiments of the disclosure can comprise at least two distinctlydifferent kinds of computer-readable media: non-transitorycomputer-readable storage media (devices) and transmission media.

Non-transitory computer-readable storage media (devices) includes RAM,ROM, EEPROM, CD-ROM, solid state drives (“SSDs”) (e.g., based on RAM),Flash memory, phase-change memory (“PCM”), other types of memory, otheroptical disk storage, magnetic disk storage or other magnetic storagedevices, or any other medium which can be used to store desired programcode means in the form of computer-executable instructions or datastructures and which can be accessed by a general purpose or specialpurpose computer.

A “network” is defined as one or more data links that enable thetransport of electronic data between computer systems and/or modulesand/or other electronic devices. When information is transferred orprovided over a network or another communications connection (eitherhardwired, wireless, or a combination of hardwired or wireless) to acomputer, the computer properly views the connection as a transmissionmedium. Transmissions media can include a network and/or data linkswhich can be used to carry desired program code means in the form ofcomputer-executable instructions or data structures and which can beaccessed by a general purpose or special purpose computer. Combinationsof the above should also be included within the scope ofcomputer-readable media.

Further, upon reaching various computer system components, program codemeans in the form of computer-executable instructions or data structurescan be transferred automatically from transmission media tonon-transitory computer-readable storage media (devices) (or viceversa). For example, computer-executable instructions or data structuresreceived over a network or data link can be buffered in RAM within anetwork interface module (e.g., a “NIC”), and then eventuallytransferred to computer system RAM and/or to less volatile computerstorage media (devices) at a computer system. Thus, it should beunderstood that non-transitory computer-readable storage media (devices)can be included in computer system components that also (or evenprimarily) utilize transmission media.

Computer-executable instructions comprise, for example, instructions anddata which, when executed at a processor, cause a general-purposecomputer, special purpose computer, or special purpose processing deviceto perform a certain function or group of functions. In someembodiments, computer-executable instructions are executed on ageneral-purpose computer to turn the general-purpose computer into aspecial purpose computer implementing elements of the disclosure. Thecomputer executable instructions may be, for example, binaries,intermediate format instructions such as assembly language, or evensource code. Although the subject matter has been described in languagespecific to structural features and/or methodological acts, it is to beunderstood that the subject matter defined in the appended claims is notnecessarily limited to the described features or acts described above.Rather, the described features and acts are disclosed as example formsof implementing the claims.

Those skilled in the art will appreciate that the disclosure may bepracticed in network computing environments with many types of computersystem configurations, including, personal computers, desktop computers,laptop computers, message processors, hand-held devices, multi-processorsystems, microprocessor-based or programmable consumer electronics,network PCs, minicomputers, mainframe computers, mobile telephones,PDAs, tablets, pagers, routers, switches, and the like. The disclosuremay also be practiced in distributed system environments where local andremote computer systems, which are linked (either by hardwired datalinks, wireless data links, or by a combination of hardwired andwireless data links) through a network, both perform tasks. In adistributed system environment, program modules may be located in bothlocal and remote memory storage devices.

Embodiments of the present disclosure can also be implemented in cloudcomputing environments. In this description, “cloud computing” isdefined as a model for enabling on-demand network access to a sharedpool of configurable computing resources. For example, cloud computingcan be employed in the marketplace to offer ubiquitous and convenienton-demand access to the shared pool of configurable computing resources.The shared pool of configurable computing resources can be rapidlyprovisioned via virtualization and released with low management effortor service provider interaction, and then scaled accordingly.

A cloud-computing model can be composed of various characteristics suchas, for example, on-demand self-service, broad network access, resourcepooling, rapid elasticity, measured service, and so forth. Acloud-computing model can also expose various service models, such as,for example, Software as a Service (“SaaS”), Platform as a Service(“PaaS”), and Infrastructure as a Service (“IaaS”). A cloud-computingmodel can also be deployed using different deployment models such asprivate cloud, community cloud, public cloud, hybrid cloud, and soforth. In this description and in the claims, a “cloud-computingenvironment” is an environment in which cloud computing is employed.

FIG. 7 illustrates a block diagram of exemplary computing device 700that may be configured to perform one or more of the processes describedabove. One will appreciate that one or more computing devices such asthe computing device 700 may implement one or more components of theflight controllers implemented on respective kite apparatuses of adual-kite aerial vehicle. As shown by FIG. 7, the computing device 700can comprise a processor 702, a memory 704, a storage device 706, an I/Ointerface 708, and a communication interface 710, which may becommunicatively coupled by way of a communication infrastructure 712.While an exemplary computing device 700 is shown in FIG. 7, thecomponents illustrated in FIG. 7 are not intended to be limiting.Additional or alternative components may be used in other embodiments.Furthermore, in certain embodiments, the computing device 700 caninclude fewer components than those shown in FIG. 7. Components of thecomputing device 700 shown in FIG. 7 will now be described in additionaldetail.

In one or more embodiments, the processor 702 includes hardware forexecuting instructions, such as those making up a computer program. Asan example, and not by way of limitation, to execute instructions, theprocessor 702 may retrieve (or fetch) the instructions from an internalregister, an internal cache, the memory 704, or the storage device 706and decode and execute them. In one or more embodiments, the processor702 may include one or more internal caches for data, instructions, oraddresses. As an example, and not by way of limitation, the processor702 may include one or more instruction caches, one or more data caches,and one or more translation lookaside buffers (TLBs). Instructions inthe instruction caches may be copies of instructions in the memory 704or the storage device 706.

The memory 704 may be used for storing data, metadata, and programs forexecution by the processor(s). The memory 704 may include one or more ofvolatile and non-volatile memories, such as Random Access Memory(“RAM”), Read Only Memory (“ROM”), a solid-state disk (“SSD”), Flash,Phase Change Memory (“PCM”), or other types of data storage. The memory704 may be internal or distributed memory.

The storage device 706 includes storage for storing data orinstructions. As an example, and not by way of limitation, storagedevice 706 can comprise a non-transitory storage medium described above.The storage device 706 may include a hard disk drive (HDD), a floppydisk drive, flash memory, an optical disc, a magneto-optical disc,magnetic tape, or a Universal Serial Bus (USB) drive or a combination oftwo or more of these. The storage device 706 may include removable ornon-removable (or fixed) media, where appropriate. The storage device706 may be internal or external to the computing device 700. In one ormore embodiments, the storage device 706 is non-volatile, solid-statememory. In other embodiments, the storage device 706 includes read-onlymemory (ROM). Where appropriate, this ROM may be mask programmed ROM,programmable ROM (PROM), erasable PROM (EPROM), electrically erasablePROM (EEPROM), electrically alterable ROM (EAROM), or flash memory or acombination of two or more of these.

The I/O interface 708 allows a user to provide input to, receive outputfrom, and otherwise transfer data to and receive data from computingdevice 700. The I/O interface 708 may include a mouse, a keypad or akeyboard, a touch screen, a camera, an optical scanner, networkinterface, modem, other known I/O devices or a combination of such I/Ointerfaces. The I/O interface 708 may include one or more devices forpresenting output to a user, including, but not limited to, a graphicsengine, a display (e.g., a display screen), one or more output drivers(e.g., display drivers), one or more audio speakers, and one or moreaudio drivers. In certain embodiments, the I/O interface 708 isconfigured to provide graphical data to a display for presentation to auser. The graphical data may be representative of one or more graphicaluser interfaces and/or any other graphical content as may serve aparticular implementation.

The communication interface 710 can include hardware, software, or both.In any event, the communication interface 710 can provide one or moreinterfaces for communication (such as, for example, packet-basedcommunication) between the computing device 700 and one or more othercomputing devices or networks. As an example, and not by way oflimitation, the communication interface 710 may include a networkinterface controller (NIC) or network adapter for communicating with anEthernet or other wire-based network or a wireless NIC (WNIC) orwireless adapter for communicating with a wireless network, such as aWI-FI.

Additionally or alternatively, the communication interface 710 mayfacilitate communications with an ad hoc network, a personal areanetwork (PAN), a local area network (LAN), a wide area network (WAN), ametropolitan area network (MAN), or one or more portions of the Internetor a combination of two or more of these. One or more portions of one ormore of these networks may be wired or wireless. As an example, thecommunication interface 710 may facilitate communications with awireless PAN (WPAN) (such as, for example, a BLUETOOTH WPAN), a WI-FInetwork, a WI-MAX network, a cellular telephone network (such as, forexample, a Global System for Mobile Communications (GSM) network), orother suitable wireless network or a combination thereof.

Additionally, the communication interface 710 may facilitatecommunications various communication protocols. Examples ofcommunication protocols that may be used include, but are not limitedto, data transmission media, communications devices, TransmissionControl Protocol (“TCP”), Internet Protocol (“IP”), File TransferProtocol (“FTP”), Telnet, Hypertext Transfer Protocol (“HTTP”),Hypertext Transfer Protocol Secure (“HTTPS”), Session InitiationProtocol (“SIP”), Simple Object Access Protocol (“SOAP”), ExtensibleMark-up Language (“XML”) and variations thereof, Simple Mail TransferProtocol (“SMTP”), Real-Time Transport Protocol (“RTP”), User DatagramProtocol (“UDP”), Global System for Mobile Communications (“GSM”)technologies, Code Division Multiple Access (“CDMA”) technologies, TimeDivision Multiple Access (“TDMA”) technologies, Short Message Service(“SMS”), Multimedia Message Service (“MMS”), radio frequency (“RF”)signaling technologies, Long Term Evolution (“LTE”) technologies,wireless communication technologies, in-band and out-of-band signalingtechnologies, and other suitable communications networks andtechnologies.

The communication infrastructure 712 may include hardware, software, orboth that couples components of the computing device 700 to each other.As an example and not by way of limitation, the communicationinfrastructure 712 may include an Accelerated Graphics Port (AGP) orother graphics bus, an Enhanced Industry Standard Architecture (EISA)bus, a front-side bus (FSB), a HYPERTRANSPORT (HT) interconnect, anIndustry Standard Architecture (ISA) bus, an INFINIBAND interconnect, alow-pin-count (LPC) bus, a memory bus, a Micro Channel Architecture(MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express(PCIe) bus, a serial advanced technology attachment (SATA) bus, a VideoElectronics Standards Association local (VLB) bus, or another suitablebus or a combination thereof.

In the foregoing specification, the invention has been described withreference to specific exemplary embodiments thereof. Various embodimentsand aspects of the invention(s) are described with reference to detailsdiscussed herein, and the accompanying drawings illustrate the variousembodiments. The description above and drawings are illustrative of theinvention and are not to be construed as limiting the invention.Numerous specific details are described to provide a thoroughunderstanding of various embodiments of the present invention.

The present invention may be embodied in other specific forms withoutdeparting from its spirit or essential characteristics. The describedembodiments are to be considered in all respects only as illustrativeand not restrictive. For example, the methods described herein may beperformed with less or more steps/acts or the steps/acts may beperformed in differing orders. Additionally, the steps/acts describedherein may be repeated or performed in parallel to one another or inparallel to different instances of the same or similar steps/acts. Thescope of the invention is, therefore, indicated by the appended claimsrather than by the foregoing description. All changes that come withinthe meaning and range of equivalency of the claims are to be embracedwithin their scope.

We claim:
 1. A dual-kite aerial vehicle, comprising: a first kiteapparatus comprising: a first flight controller coupled to one or moreactuators of the first kite apparatus to control a flight path of thefirst kite apparatus; and a first power generator powering the firstflight controller; a second kite apparatus comprising: a second flightcontroller coupled to one or more actuators of the second kite apparatusto control a flight path of the second kite apparatus such that a targetgradient air movement between a first air movement at a first altitudeof the first kite apparatus and a second air movement at a secondaltitude of the second kite apparatus is maintained; and a second powergenerator powering the second flight controller; and a tether couplingthe first power generator of the first kite apparatus to the secondpower generator of the second kite apparatus.
 2. The dual-kite aerialvehicle of claim 1, wherein the tether coupling the first powergenerator of the first kite apparatus to the second power generator ofthe second kite apparatus comprises a non-conductive material thatencloses a conductive path that passes through the first power generatorto the first flight controller on the first kite apparatus and thesecond power generator to the second flight controller on the secondkite apparatus.
 3. The dual-kite aerial vehicle of claim 1, wherein thefirst power generator converts a mechanical force exerted on the tetherby a gradient air movement between the first air movement and the secondair movement to electrical energy to power the first flight controllerand the one or more actuators of the first kite apparatus.
 4. Thedual-kite aerial vehicle of claim 3, wherein the second power generatorconverts the mechanical force exerted on the tether by a gradient airmovement between the first air movement and the second air movement toelectrical energy to power the second flight controller and the one ormore actuators of the second kite apparatus.
 5. The dual-kite aerialvehicle of claim 1, further comprising: a flight control systemcomprising the first flight controller and the second flight controller;and wherein the flight control system maintains the target gradient airmovement by changing a length of the tether coupling the first powergenerator of the first kite apparatus to the second power generator ofthe second kite apparatus.
 6. The dual-kite aerial vehicle of claim 5,further comprising a winch coupled to the first power generator, whereinthe flight control system maintains the target gradient air movement byactivating the winch to extend or retract the length of the tether. 7.The dual-kite aerial vehicle of claim 6, wherein the flight controlsystem controls altitudes of both the first kite apparatus and thesecond kite apparatus by activating the winch to alternatively extendand retract the tether to create a flapping motion of a structure of thefirst kite apparatus.
 8. The dual-kite aerial vehicle of claim 1,wherein the second kite apparatus further comprises communicationhardware for providing internet connectivity to a plurality of clientdevices within a predefined geographic area.
 9. The dual-kite aerialvehicle of claim 1, wherein the first flight controller and the secondflight controller maintain the flight paths of the first kite apparatusand the second kite apparatus by selectively activating the one or moreactuators of the first kite apparatus and the one or more actuators ofthe second kite apparatus to cooperatively control the flight paths ofthe first kite apparatus and the second kite apparatus to remain withina predetermined region corresponding to a predetermined geographic area.10. A dual-kite aerial vehicle, comprising: a first kite apparatuscomprising: a first wing structure; a first flight controller coupled toone or more actuators of the first kite apparatus to control a flightpath of the first kite apparatus; and a first power generator poweringthe first flight controller; a second kite apparatus comprising: asecond wing structure; a second flight controller coupled to one or moreactuators of the second kite apparatus to control a flight path of thesecond kite apparatus such that a target gradient air movement between afirst air movement at a first altitude of the first kite apparatus and asecond air movement at a second altitude of the second kite apparatus ismaintained; and a second power generator powering the second flightcontroller; and a tether coupling the first power generator of the firstkite apparatus to the second power generator of the second kiteapparatus.
 11. The dual-kite aerial vehicle of claim 10, wherein thetether coupling the first power generator of the first kite apparatus tothe second power generator of the second kite apparatus comprises anon-conductive material that encloses a conductive path that passesthrough the first power generator to the first flight controller on thefirst kite apparatus and the second power generator to the second flightcontroller on the second kite apparatus.
 12. The dual-kite aerialvehicle of claim 10, where: the first power generator converts amechanical force exerted on the tether by a gradient air movementbetween the first air movement and the second air movement to electricalenergy for powering the first flight controller and the one or moreactuators of the first kite apparatus; and the second power generatorconverts the mechanical force exerted on the tether by a gradient airmovement between the first air movement and the second air movement toelectrical energy for powering the second flight controller and the oneor more actuators of the second kite apparatus.
 13. The dual-kite aerialvehicle of claim 10, wherein: the first flight controller is enclosedwithin the first wing structure of the first kite apparatus; and thesecond flight controller is enclosed within the second wing structure ofthe second kite apparatus.
 14. The dual-kite aerial vehicle of claim 10,further comprising a winch coupled to the second power generator,wherein the second flight controller maintains the target gradient airmovement by activating the winch to extend or retract a length of thetether extending between the first kite apparatus and the second kiteapparatus.
 15. The dual-kite aerial vehicle of claim 14, wherein thewinch is mounted on the second wing structure.
 16. The dual-kite aerialvehicle of claim 10, wherein: the first wing structure comprises a firstairfoil shape designed for a predicted altitude of the first kiteapparatus; and the second wing structure comprises a second airfoilshape designed for a predicted altitude of the second kite apparatuslower than the predicted altitude of the first kite apparatus.
 17. Thedual-kite aerial vehicle of claim 10, wherein: the first kite apparatuscomprises one or more solar panels mounted to the first wing structurefor converting solar power to electrical energy to further power thefirst flight controller and the one or more actuators of the first kiteapparatus; and the second kite apparatus comprises one or more solarpanels mounted to the second wing structure for converting solar powerto electrical energy to further power the second flight controller andthe one or more actuators of the second kite apparatus.
 18. A methodcomprising: determining, by a first flight controller of a first kiteapparatus, a first air movement at a first altitude corresponding to analtitude of the first kite apparatus; determining, by a second flightcontroller of a second kite apparatus, a second air movement at a secondaltitude corresponding to an altitude of the second kite apparatus;determining a gradient air movement based on a difference between thefirst air movement and the second air movement, wherein: the firstaltitude is higher than the second altitude, the first air movement isdifferent from the second air movement, and the first air movement andthe second air movement are in a same direction; and modifying thegradient air movement by causing a tether coupling a first powergenerator of the first kite apparatus to a second power generator of thesecond kite apparatus to extend or retract based on the determinedgradient air movement and a target gradient air movement and generatepower for at least one of the first flight controller or the secondflight controller.
 19. The method of claim 18, wherein modifying thegradient air movement between the first air movement and the second airmovement comprises: if the determined gradient air movement is greaterthan the target gradient air movement, activating a winch on the secondkite apparatus to retract a length the tether; and if the determinedgradient air movement is less than the target gradient air movement,activating the winch on the second kite apparatus to extend the lengthof the tether.
 20. The method of claim 19, further comprising raisingaltitudes of both the first kite apparatus and the second kite apparatusby activating the winch to alternatively extend and retract the lengthof the tether extending between the first kite apparatus and the secondkite apparatus to generate a lifting force on both the first kiteapparatus and the second kite apparatus.